Research On Mobile System For Coal Mine Rescue Robot

For a long time,the coal is the main energy in our country.Due to the complexity of mine conditions in our country,coal mine accidents have been occurred.Once the accident has occurred,there is great threat of the underground staff's life and property.Emergency to search and rescue under ground is unpredictable.Therefore,the development of robot can replacing person in mine rescue work has very important significance.Domestic study of rescue robot has a lot of breakthroughs,such as equipping with gas sensors,temperature sensors and cameras,etc.,can accessing concentration of gas,carbon monoxide and dust in real-time under the scene of the accident in underground,as well as the high resolution image the scene of the accident and so on.But most of the bodywork design for vehicle prototype,with large volume,inflexible,complex structure,low reliability and poor obstacle capability.To solve these problems,a new type crawler rescue robot mobile system was designed.In this paper,a new mobile system of coal mine rescue robot is designed.The mobile system uses symmetrical four bar deformation mechanism and caterpillar adaptation device to control the deformation of the caterpillar track,so that the crawler can better adapt to various typical obstacle terrain,and then improve the adaptability of the rescue robot to various complex terrain.The structure of the system is designed,the invariability of the length of the track before and after the deformation is calculated,and the driving motor is selected.The kinematics,the linear kinematics and the steering kinematics of the robot four bar deformation mechanism are analyzed,and the motion characteristics and the obstacle ability of the robot moving system are guaranteed under the premise of guaranteeing the stability.The analysis and calculation are carried out.In order to test the feasibility of the scheme of the rescue robot's mobile system,the dynamic simulation analysis of the virtual prototype of the rescue robot in various typical obstacle terrain is carried out by the dynamic simulation software ADAMS.The theoretical analysis is verified.